相关论文: MoSS: Monocular Shape Sensing for Continuum Robots

Monocular depth estimation (MDE) provides a useful tool for robotic perception, but its predictions are often uncertain and inaccurate in challenging environments such as surgical scenes where textureless surfaces, specular reflections, and…

Monocular normal estimation aims to estimate the normal map from a single RGB image of an object under arbitrary lights. Existing methods rely on deep models to directly predict normal maps. However, they often suffer from 3D misalignment:…

Detecting and segmenting moving objects from a moving monocular camera is challenging in the presence of unknown camera motion, diverse object motions and complex scene structures. Most existing methods rely on a single motion cue to…

Despite significant progress made in the past few years, challenges remain for depth estimation using a single monocular image. First, it is nontrivial to train a metric-depth prediction model that can generalize well to diverse scenes…

Autonomous driving perception tasks rely heavily on cameras as the primary sensor for Object Detection, Semantic Segmentation, Instance Segmentation, and Object Tracking. However, RGB images captured by cameras lack depth information, which…

Motion segmentation from a single moving camera presents a significant challenge in the field of computer vision. This challenge is compounded by the unknown camera movements and the lack of depth information of the scene. While deep…

Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

Mobile manipulation is a critical capability for robots operating in diverse, real-world environments. However, manipulating deformable objects and materials remains a major challenge for existing robot learning algorithms. While various…

The task of 3D semantic scene completion using monocular cameras is gaining significant attention in the field of autonomous driving. This task aims to predict the occupancy status and semantic labels of each voxel in a 3D scene from…

In this paper, we focus on category-level 6D pose and size estimation from monocular RGB-D image. Previous methods suffer from inefficient category-level pose feature extraction which leads to low accuracy and inference speed. To tackle…

Tendon-driven continuum robots have been gaining popularity in medical applications due to their ability to curve around complex anatomical structures, potentially reducing the invasiveness of surgery. However, accurate modeling is required…

Although deep neural networks have been widely applied to computer vision problems, extending them into multiview depth estimation is non-trivial. In this paper, we present MVDepthNet, a convolutional network to solve the depth estimation…

Monocular SLAM algorithms perform robustly when observing rigid scenes, however, they fail when the observed scene deforms, for example, in medical endoscopy applications. We present DefSLAM, the first monocular SLAM capable of operating in…

Multi-View Photometric Stereo (MVPS) is a popular method for fine-detailed 3D acquisition of an object from images. Despite its outstanding results on diverse material objects, a typical MVPS experimental setup requires a well-calibrated…

Monocular dense 3D reconstruction of deformable objects is a hard ill-posed problem in computer vision. Current techniques either require dense correspondences and rely on motion and deformation cues, or assume a highly accurate…

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…

Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges…

Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…

Comprehensive understanding of dynamic scenes is a critical prerequisite for intelligent robots to autonomously operate in their environment. Research in this domain, which encompasses diverse perception problems, has primarily been focused…